System for validating worksites

ABSTRACT

A system for validating a worksite includes determining extents of a worksite at which a job is to be performed. A graphical representation of the worksite may be presented to a user via a graphical user interface on a user device. The graphical user interface may also include an indication of a current location of the user or the user device. Sensor data, including data indicating a position of the user or the user device, can be used to determine whether the worksite is valid. The worksite plan may include information about additional conditions for validating the worksite and additional sensor data can be used to further validate the worksite. Further aspects may include controlling machines at the worksite when the worksite is validated.

TECHNICAL FIELD

This disclosure relates generally to controlling machines at worksitessuch as construction, industrial, and/or mining sites, and, morespecifically, to systems utilizing sensors and data processingtechniques to identify incidents and/or intervene in such incidentsthrough machine control.

BACKGROUND

Many industrial worksites include machines, equipment, and/or personnelto perform various functions. For example, a mining site may includeexcavators, haul trucks, and operators to mine ore or other resourcesand dispose of waste. The operations of such machines and personnel mustbe coordinated in order to maintain efficiency at the site. In someinstances, jobsite tasks may be assigned using non-line of sight (NLOS),e.g., remote, methods. Moreover, such tasks may be executed byremote-controlled machines and/or machines that are autonomous orsemi-autonomous. Assigning tasks remotely and executing the tasks eitherremotely or autonomously can increase safety outcomes by reducingexposure of personnel to heavy machinery and certain operations.However, NLOS assignment of tasks and remote or autonomous control ofmachines may provide undesirable consequences if the worksite at whichthe task(s) are to be performed is not suitable. For example, attemptingto execute tasks on an unsuitable worksite may result in excessivemachine wear or damage, non-performance of the task, or otherinefficiencies. Accordingly, it may be useful to validate a worksiteprior to attempting to execute a task at the worksite.

An example system for determining an extent or perimeter of a worksiteat which a task is to be performed autonomously or semi-autonomously isdescribed in U.S. Pat. No. 6,112,143 (hereinafter referred to as the'143 reference). In particular, the '143 reference describes a system inwhich a learning mode is activated on a machine. While in the learningmode, the '143 reference describes positioning the machine at aplurality of locations on a perimeter of a worksite, and determining aperimeter based on position information associated with those locations.As explained in the '143 reference, the perimeter may be displayed to auser to confirm or otherwise verify the extents of the worksite. Oncethe bounds of the worksite are established, the learning mode may bedeactivated, and the machine may perform autonomously orsemi-autonomously within the perimeter. The '143 reference does not,however, disclose details related to determining that the worksite isotherwise ready for job execution. By way of non-limiting example, the'143 reference does not contemplate the presence of obstructions orother conditions that may impact the machine's ability to perform atask. As a result, incidents such as equipment failure resulting from animproper worksite may not be prevented by the techniques described inthe '143 reference.

Example embodiments of the present disclosure are directed towardovercoming the deficiencies described above.

SUMMARY

In an aspect of the present disclosure, a computer-implemented methodincludes receiving, at a computing device, a worksite plan including atleast one task to be executed by a machine at a worksite, a set ofworksite condition parameters, and a boundary of the worksite;displaying, on a display of the computing device, a user interfacecomprising a map including a representation of the boundary of theworksite and a representation of a location of the computing device. Themethod can also include receiving location information including one ormore updated locations of the computing device, and generating, based onthe location information, a validation signal indicating that theworksite has been validated. The method can also include transmittingthe validation signal from the computing device.

In another aspect of the present disclosure, a system includes acomputing device; one or more sensors; one or more processors; andmemory storing processor-executable instructions. When executed by theone or more processors, the processor-executable instructions configurethe system to perform acts comprising: receiving a worksite plan, theworksite plan including a boundary of a worksite at which a machine isto perform a task, at least one worksite condition parameter associatedwith the worksite, and information about the task to be performed by theat least one machine at the worksite. The acts can also includereceiving, from the one or more sensors, sensor data associated with theworksite, the sensor data comprising at least one of location data orimage data, and based at least in part on the sensor data, generating afirst signal indicating that the worksite has been visually inspected.The acts can also include receiving condition parameter data indicatingthat the at least one worksite condition parameter is satisfied. Theacts can also include generating, for display on the computing device, agraphical user interface comprising a graphical representation of theworksite and a user interface element, and based on the first signal,the condition parameter data, and a user input indicative of a userinteraction with the user interface element, generating a validationsignal indicating that the worksite has been validated. The acts canalso include transmitting the validation signal.

In yet another aspect of the present disclosure, non-transitorycomputer-readable media store instructions that, when executed by one ormore processors, perform actions including receiving a worksite plan,the worksite plan including a boundary of a worksite at which a machineis to perform a task, at least one worksite condition parameterassociated with the worksite, and information about the task to beperformed by the at least one machine at the worksite. The actions canalso include receiving, from one or more sensors, sensor data associatedwith the worksite, the sensor data comprising at least one of locationdata or image data, and, based at least in part on the sensor data,generating a first signal indicating that the worksite has been visuallyinspected. The actions can also include generating, for display on thecomputing device, a graphical user interface comprising a graphicalrepresentation of the worksite and a user interface element, andreceiving condition parameter data indicating that the at least oneworksite condition parameter is satisfied. The actions can also include,based on the first signal, the condition parameter data, and a userinput indicative of a user interaction with the user interface element,generating a validation signal indicating that the worksite has beenvalidated, and transmitting the validation signal.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a perspective view of an environment in which jobs are to beperformed in accordance with an example embodiment of the presentdisclosure.

FIG. 2 is a schematic representation of a graphical user interfaceincluding a graphical representation of the environment and identifyinga specific worksite in accordance with an example embodiment of thepresent disclosure.

FIG. 3 is a schematic representation of another graphical user interfacein accordance with another example embodiment of the present disclosure.

FIG. 4 is a schematic representation of another graphical user interfacein accordance with another example embodiment of the present disclosure.

FIG. 5 is a schematic representation of another graphical user interfacein accordance with another example embodiment of the present disclosure.

FIG. 6 is a schematic representation of another graphical user interfacein accordance with another example embodiment of the present disclosure.

FIG. 7 is an example computing environment for validating a worksite inaccordance with an example embodiment of the present disclosure.

FIG. 8 is a flowchart illustrating an example method of validating aworksite in accordance with an example embodiment of the presentdisclosure.

FIG. 9 is a flowchart illustrating an example method associated withvalidating worksite in accordance with an example embodiment of thepresent disclosure.

DETAILED DESCRIPTION

This disclosure generally relates to the sensing, coordination, and/orcontrol of machines and personnel to increase safety and reduceincidents, such as accidents or injuries, in a geographical area, suchas a worksite. In implementations, the systems and techniques describedherein can be used in connection with validating a worksite in a mannerthat allows for the performance of machine-based tasked autonomously,semi-autonomously, and/or via remote operation. Wherever possible, thesame reference numbers will be used through the drawings to refer to thesame or like features.

Referring to FIG. 1, an example environment 100 may be a mining locationat which a number of operations are being performed. For example, theenvironment 100 may include an open-pit mine 102 from which ore and/orother materials may be extracted. Additional or alternative operations(not illustrated) performed at the site may include, but are not limitedto, tunnel mining, blasting, and/or other mining or landscapingoperations. Although such operations are particularly suited to mining,aspects of this disclosure may apply to geographic areas andenvironments other than a mining site. For example, and withoutlimitation, aspects described herein may be applicable to manygeographic locales at which coordinated activities are carried out. Insome instances, the environment 100 may include aspects of a pavingsite, an industrial site, a factory floor, a building construction site,a road construction site, a quarry, a building, a city, or the like.Moreover, features of the environment 100 may change over time, e.g., asthe environment 100 develops from mining, digging, grading, and/or othermachine-based actions and/or because of erosion or other naturalchanges.

A number of machines may be present in the environment 100. Forinstance, FIG. 1 illustrates an excavator 104 a in the open pit mine 102and trucks 104 b, 104 c, 104 d performing various hauling and dumpingoperations throughout the worksite 100. The excavator 104 a and thetrucks 104 b-104 d are only examples. Other machines, including but notlimited to earth-moving machines, e.g., wheel loaders, dump trucks,backhoes, bulldozers, or material handlers, tankers, e.g., for carryingwater or fuel, over-the-road vehicles, work machines, e.g., pavers orcompactors, or the like may additionally or alternatively be present inthe environment 100. Moreover, other locations or types of environmentsmay require different machines, and techniques described herein may beapplicable to these different locations/environments. As used herein,the term “machine” may refer to any type of machine that performsrelevant operation associated with a given industry such as mining,construction, farming, transportation, oil and gas, manufacturing, orany other industry. Throughout this disclosure, one or more machines,including but not limited to the excavator 104 a and/or the trucks 104b, 104 c, 104 d, may be referred to as “the machines 104.”

In some implementations, tasks, jobs, or operations performed in theenvironment 100 may be substantially or completely autonomous. However,in the illustrated embodiment, people or personnel 106 a, 106 b may alsobe present. For example, the personnel 106 a may be a worker or operatorin the open-pit mine 102 and the personnel 106 b may be a supervisor orforeman overseeing operations in the environment 100. Although only twopersonnel 106-1, 106-2 are illustrated, additional personnel may also bepresent in the environment 100. Moreover, although example tasks or jobsmay be ascribed to the personnel 106 for purposes of examples, herein,such are examples only. In implementations described herein, personnelmay be performing manual labor, or may be performing operations on themachines 104, such as overseeing operations the machines 104, visuallyinspecting a worksite in the environment 100, e.g., to identifyobstacles and/or validate a work plan, as detailed further herein,and/or performing other tasks.

One or more of the machines 104 may be configured with or otherwise haveaccess to one or more communication components 108 and/or one or moresensing components 110. Moreover, one or more of the personnel may havean accompanying one or more communication components 112 and/or one ormore sensing components 114. For example, the communication components108, 112 may include a transmitter/receiver, including an antenna, tofacilitate wireless communication, e.g., via radio frequency (RF)signals, via a wireless network, such as a local area network (LAN) or awide-area network (WAN), or any other communication protocol. Thecommunication components 108 may be configured to communicate with acentral hub, e.g., at a fixed location, with the central hub beingconfigured to receive all or substantially all communications and routethe communications as appropriate. In other implementations, thecommunication components 108 may be configured to communicate directlywith each other, e.g., via a distributed network. Hybrid networks and/ordifferent communication networks and protocols may alternatively beused; this disclosure is not dependent upon a single arrangement,technology or protocol. The communication components 108, 112 maygenerally include any devices with which a human user, e.g., thepersonnel 106, machine operators, and/or the like, can interact. Forinstance, the communication components 108, 112 can include an inputdevice, such as a touchscreen or keypad, a speaker and/or a microphoneto facilitate verbal communication, and/or other communicationtechnologies. By way of non-limiting example, the communicationcomponents 108 may include a touch screen in the one of the machines104, one or more radios accessible in the one of the machines 104, aspeaker system in the one of the machines 104, one or more microphonesdisposed in the one of the machines 104, or the like. Moreover, thecommunication components 112 may include a mobile phone, a tabletdevice, a radio, a headset, or other electronic device associated withthe personnel 106 that facilitates communication between the personnel106 and a remote system, a remote device, or person at a remotelocation.

The sensing components 110 may be any type of and any number of sensormodalities affixed to or otherwise associated with the machines 104 andthe sensing components 114 may include any number of sensor modalitiesassociated with the personnel 106 or the communications components 112accompanying the personnel 106. By way of non-limiting example, thesensing components 110 and/or the sensing components 114 may includelocation sensors (e.g., GPS, compass, etc.), inertial sensors (e.g.,inertial measurement units, accelerometers, magnetometers, gyroscopes,etc.), cameras (e.g., imaging sensors, range-finding sensors, RGB, UV,IR, intensity, depth, etc.), microphones, wheel encoders, environmentsensors (e.g., temperature sensors, humidity sensors, light sensors,pressure sensors, etc.), LIDAR sensors, RADAR sensors, ultrasonictransducers, and/or SONAR sensors. The sensing components 110 may beconfigured to sense conditions external to or internal of (e.g. in a cabof) the machines 104 with which they are associated. By way ofnon-limiting example, the sensing components 110 may include camerastrained on an exterior of the machine, e.g., to record video and/orimages of a portion of the external environment 100 around the one ofthe machines 104 and/or cameras configured to record an internalenvironment of the one of the machines 104, e.g., to record video and/orimages of an operator of the one of the machines 104. In addition todifferent types of sensors, the sensing components 110 may also includemultiple sensors of the same type. For example, a plurality ofmicrophones, cameras, or LiDAR sensors may be disposed at differentlocations on the one of the machines 104, e.g., to provide informationabout different aspects of the external environment 100 of the one ofthe machines 104, and in some instances up to a 360-degree view aroundthe one of the machines 104.

In some examples, the sensing components 114 may be integrated into oneor more electronic devices associated with the personnel 106, includingbut not limited to the communications component 112, a device worn bythe personnel 106, e.g. a head-mounted device, a wrist-mounted device,or the like, or a device carried by the personnel, e.g., a smart phone,a radio, a tablet, a fob, or the like. In at least some examples of thisdisclosure, the personnel 106 may carry or otherwise have associatedtherewith a portable electronic device, such as a mobile phone, atablet, or the like. The electronic device may include an interactivedisplay with which the personnel may interact, e.g., via touchscreen orother input device, e.g., as a part of the communication component 112,and may include one or more sensors, e.g., location sensors, imagingsensors, or the like to capture information about portions of theenvironment 100, e.g., as a part of the sensing component 114.

Moreover, in addition to the sensing components 110 associated with themachines 104 and the sensing components 114 associated with thepersonnel 106, additional sensors may also be disposed in theenvironment 100. For example, additional sensors 116 a, 116 b(collectively, and when referring to additional and/or alternativesensors not associated with one of the machines 104 and/or personnel106, the “additional sensors 116” or “sensors 116”) also are illustratedin FIG. 1. For example, the sensors 116 may include one or more sensormodalities, e.g., a motion sensor, a camera, a position sensor, amicrophone, a LiDAR sensor, a radar sensor, and/or the like, tosurveille conditions in the environment 100. In the exampleimplementation of FIG. 1, the additional sensor 116 a may be associatedwith a workstation 118, e.g., to sense conditions at or proximate theworkstation, and the additional sensor 116 b may be arranged proximatethe open-pit mine 102, e.g., to sense conditions at or proximate themine 102. In some examples, the sensors 116 can be placed at locationsthroughout the worksite 100 to provide additional information aboutaspects of the worksite 100. In some implementations, the sensors 116may be disposed to sense conditions at locations that may be ofimportance and/or at which may be more-likely to be performed. Theadditional sensors 116 may be associated with other elements, includingpotentially hazardous elements, in the environment 100. By way ofnon-limiting example, the additional sensors 116 may be associated withhigh voltage sources, transformers, pressurized containers, fuelstorage, radiation sources, hazard material sites, chemical storage, orthe like.

As noted above, the worksite 100 may also include a workstation 118,which may be a room, building, vehicle, or the like, in which one ormore of the personnel 108 may be situated. For example, the workstation118 may contain one or more offices in which a supervisor, a foreman,and/or different personnel may be stationed. In some implementations,the workstation 118 may act as a hub, for example, serving as a locationat which the various machines and personnel are directed or otherwisecontrolled. To this end, the workstation 118 may include one or morecomputing systems 120 configured to implement processes describedherein. For instance, the computing system(s) 120 may be configured toreceive information from one or more of the sensing components 110, 114and/or the sensors 116. The computing system(s) 120 may also beconfigured to receive information from and/or transmit information tothe machines 104 and/or the personnel 106, e.g., via the communicationcomponents 108, 112. Although FIG. 1 illustrates the computing system(s)120 as associated with the workstation 118, aspects of the computingsystem(s) 120 may be carried out other than at the workstation 118, andin some instances may be carried out other than in the environment. Byway of non-limiting example, the computing system(s) 120 may be remotecomputing systems, cloud-based computing systems, or other computingsystems.

As described, several jobs and/or tasks may be performed in theenvironment 100. In some examples, it may be desirable to controlmachines to perform those tasks remotely, e.g., with an operator remotefrom the cab of one of the machines 104, and/or to perform those taskswith machines functioning with some level of autonomy. However, merelyinstructing a remote operator to control one of the machines 104 toperform the task and/or causing an autonomous one of the machines 104 toperform the task can be unsafe or otherwise ineffective if theenvironment 100 or a portion thereof is not suitable for performing thetask. As described further herein, in implementations of thisdisclosure, the computing system(s) 120 may receive data from thesensing components 110, 114 and/or the sensors 116, to validate areas ofthe environment 100, e.g., based on determining that certain conditionsare met for a portion of the environment 100, and authorize additionalaction(s) in those areas. In a specific example described furtherherein, the computing system(s) 120 may be configured to automaticallyvalidate a worksite 128 as a prerequisite to performing autonomous,semi-autonomous, and/or remote-controlled work at a worksite 128.

In more detail, FIG. 1 schematically illustrates that the computingsystem(s) 120 may include a worksite plan 122, a worksite mappingcomponent 124, and a worksite validation component 126. In examplesdescribed herein, the worksite plan 122 may be a plan to perform one ormore tasks or operations in the environment 100. As illustrated in FIG.1, the worksite plan 122 can include information including a worksiteidentification, task information, worksite physical conditions, worksiteenvironmental conditions, an equipment identification, and/or equipmentconditions. For instance, the worksite identification can be a locationor region within the environment 100 at which a job or task is to beperformed. In an example detailed below, for instance, the worksiteidentification can identify a perimeter of a worksite 128. The taskinformation can include an identification of the job to be undertaken.For example, the task information can identify material to be excavated,hauled, moved, or the like, an amount of material to be excavated,hauled, moved, or the like, and/or other aspects of the task. The taskinformation can also include locations from which the material is to beremoved (e.g., within the worksite), locations to which material is tobe moved (e.g., within or remote from the worksite). The worksitephysical conditions can include information about physical parameters ofthe worksite. Such parameters can include ground and/or materialconditions necessary for completing the task, an identification ofobstacles (including physical obstacles, people, or the like) that wouldprohibit performing the task, and/or an identification of physicalconditions that must be present to perform the task. The worksiteenvironmental conditions can include weather-related conditions, whichcan include conditions in which the task can be safely performed and/orconditions that would prohibit performing the task. Without limitation,the weather-related conditions can include information abouttemperature, humidity, wind, precipitation, or the like. The equipmentidentification can be an identification of a machine or machines thatmay be required to perform the task. The equipment conditions caninclude information about a relative health of a machine (e.g., fuel,oil, maintenance) or a portion of the machine (e.g., a tool or implementassociated with the machine(s) or a subsystem, e.g., braking system,control system, of the machine). The foregoing conditions and attributesof the worksite plan 122 are for example only; more, fewer, and/ordifferent conditions and/or information that may impact the performanceof work in the environment 100.

In examples, the worksite plan 122 may be uploaded to or otherwiseaccessible by the computing system(s) 120. In other examples, thecomputing system(s) 120 may facilitate generation of the worksite plan122, e.g., via one or more user interfaces facilitating userinteractions to define parameters associated with the worksite plan 122.By way of non-limiting example, the worksite plan 122 can includeinformation about one or more tasks to be performed in the environmentand one or more conditions that must be present to perform such task(s).For instance, the worksite plan 122 can be generated by a foreman, siteadministrator, other of the personnel 106, one or more remoteindividuals, by a computer process identifying needs for completing ajob in the environment 100, or otherwise. As used herein, a “condition”may refer to an attribute, a state, or a fact about a machine, personneland/or the worksite generally.

As illustrated in FIG. 1, the computing system(s) 120 can also includethe worksite mapping component 124. The worksite mapping component 124may include functionality that determines regions or sub-regions of theenvironment 100, e.g., as defined or required by the worksite plan 122,and generates or causes to be generated visual depictions of theenvironment and/or those regions. For instance, such visual depictionscan be displayed on a display device, e.g., via a graphical userinterface. For instance, the worksite mapping component 124 may store oraccess maps of the environment. In at least some examples, the maps caninclude a two-dimensional and/or a three-dimensional representation ofthe environment 100. The worksite mapping component 124 may determinelocation information from the worksite plan 122, e.g., locationinformation identifying the worksite 128 within the environment 100. Inexamples described herein, the worksite may be a region of theenvironment 100 at which one or more specific tasks are to be performed.The worksite mapping component 124 may also include functionality todesignate a portion of the environment 100 as the worksite 128, e.g.,from the worksite plan 122. For example, the worksite mapping component124 may receive or determine coordinates, e.g., latitude/longitude,local coordinates, or the like, representative of an area within theenvironment 100 and identify the area in map data of the environment. Asdetailed further herein, the worksite mapping component 124 may alsogenerate a map for display via a graphical user interface. In additionto including a graphical representation of the environment 100 in wholeor in part, the map can also present an indication of the region(s)identified by the worksite plan 122.

The computing system(s) 120 may also include the worksite validationcomponent 126. As described further herein, the worksite validationcomponent 126 may include functionality to determine that a worksite isready for performance of a task or tasks, e.g., to validate theworksite. In examples described herein, the worksite validationcomponent 126 can receive location information from a device andconfirm, based on the location information, that a visual inspection ofthe worksite has been performed. For instance, by determining that adevice has been located around an entire perimeter of a worksite, at oneor more predetermined locations associated with the worksite, or at oneor more other locations, the worksite validation component 126 candetermine that personnel associated with the device has sufficientlyinspected the worksite. In examples, the worksite validation component126 can receive position information from a position sensor, e.g., a GPSsensor, located on the device, e.g., as one of the sensing components110, 114. Moreover, the worksite validation component 126 can also, oralternatively, receive a validation signal from a device associated withpersonnel proximate the worksite. For instance, the personnel mayinteract with the device, e.g., via a touchscreen or similar inputdevice, to confirm that the worksite has been visually inspected, andsuch confirmation may cause a signal indicative of the validation to besent to, and received by, the worksite validation component 126. In someexamples, a visual inspection may be crucial for ensuring that theworksite is prepared for the task(s) required by the worksite plan. Forinstance, the visual inspection can ensure the presence or absence ofone or more conditions. As used herein, a “condition” may refer to anattribute, a state, or a fact about a machine, and/or personnel presentat the worksite. Further, the condition may indicate attributes aboutthe worksite such as environmental conditions (e.g., temperature, wind,precipitation), physical conditions (e.g., surface grade, surfacecomposition), and/or information about objects at the site (e.g.,objects that would prevent performing a task and/or that may be requiredfor performing the task). In this context, conditions may also denoteprerequisite conditions that are required to be met before for a taskcan be performed at the worksite, and may constitute a presence or anabsence of any object(s) located at the worksite, the attribute(s) andstate(s) of the objects present at the worksite, or the indication ofthe attributes of the personnel present at the worksite and the like.

A non-limiting, example implementation of the present disclosure nowwill be described with reference to FIG. 1. As noted above, theenvironment 100 may include an open pit mine 102 along with additionalfeatures and areas. For example, one or more tasks at the environment100 may include removing material from the open pit mine 102 e.g., usingthe excavator 104 a, and moving the removed material to a remotelocation, such as using the haul trucks 104 b, 104 c, 104 d. An instanceof the worksite plan 122 may include a number of objectives or tasks tobe performed at the environment 100, e.g., to attain some goal, such asremoval of some amount of material from the open pit mine 102. In thisexample, the worksite plan 122 may include instructions to begin anearth removing operation in a new portion of the open pit mine 102. Forexample, the worksite plan 122 can identify the worksite 128 as a regionof the environment 100 in which this new excavating task is to beperformed. The worksite 128 is set off by a dashed ellipse in FIG. 1. Insome examples, the worksite 128 may be identified in the worksite plan122 as a next or additional portion of the mine 102 at which materialsare to be excavated and/or removed. The worksite plan 122 may alsoidentify the excavator 104 a as being the appropriate machine to performthe removal task at the worksite 128. Assume also, for purposes of thisexample, that the excavator 104 a is configured to functionautonomously, e.g., without operator interaction. While the excavator104 a may be autonomous in this example, in other examples the excavator104 a may be semi-autonomous, e.g., performing some functions withoutoperator interaction, or may be remotely-operated, e.g., by an operatorother than in a cab associated with the excavator 104 a and/or anoperator located remotely from the open pit mine 102.

In some implementations, the bounds of the worksite 128 may beidentified without a line of sight to the worksite 128. For example, theworksite plan 122 may have been formulated at commencement of a lengthymining operation and the expansion of operation into the worksite 128may be a next step in the worksite plan. In this example, the worksite128 may be assigned without a line of sight to the worksite 128. In someimplementations, based on this NLOS assignment, the excavator 104 acould be instructed to begin an excavating or extraction operation atthe worksite 128. However, because the assignment may have been madewithout a line of sight and the excavator 104 a may be without anoperator, intervening events may have occurred or conditions may bepresent at (or absent from) the worksite 128 that hinder performance ofthe task.

Accordingly, techniques described herein may be used to validate theworksite 128 prior to the excavator 104 a beginning the task(s) requiredby the worksite plan 122. By way of non-limiting examples, it may beessential that the worksite 128 include, or be free from, certainconditions or attributes. In this example, the worksite plan 122 mayrequire (i) that the worksite 128 be free of large obstacles, e.g.,boulders, machines, trees, or other obstacles that could interfere withtravel and or operation of the excavator 104 a, (ii) that the ground inthe worksite 128 be free of large holes, drop-offs, and certain, e.g.,too loose or muddy, soil conditions, (iii) that the grade of the area onwhich the excavator 104 a will be operating is acceptable for use of theexcavator, and (iv) that the worksite 128 is free of operatingpersonnel, service personnel, and any additional machines. Of course,these conditions are listed just as an example, as the worksite plan 122may include fewer, additional, or alternative conditions that may leadto hindrance in performance of a worksite task.

In the example, the worksite mapping component 124 can determine theworksite 128, e.g., from the worksite plan 122, and determine theboundary of the worksite 128 within the environment 100. For example,the worksite plan 122 may identify only that work is to be completed atan eastern end of the open pit mine 102, and such work will includeremoving a predetermined amount of material from the open pit mine 102.Based on this information, the worksite mapping component 124 candetermine an extent and/or size of the worksite 128. Alternatively, theworksite plan 122 may dictate an amount or size by which the open pitmine 102 is to be expanded. The worksite mapping component 124 caninclude functionality to then determine the extent of the worksite 128based on this information. Without limitation, the worksite 128 may besized based on parameters defined by the worksite plan 122, usingheuristics, or otherwise, and the worksite mapping component 124 candetermine a boundary of the worksite 128. Also in examples, the boundaryof the worksite 128 may be pre-defined, e.g., by personnel, such as aforeman, site administrator, or the like. In at least some examples, theworksite mapping component 124 can include functionality to generate amap of the environment 100 for display to personnel, and allow suchpersonnel to input boundaries defining the worksite 128, e.g., byinteracting with a touchscreen or the like. The worksite mappingcomponent 124 may also include functionality to determine points alongthe boundary of the worksite 128, as described further herein. Forexample, predetermined positions along the boundary of the worksite 128and/or within the worksite 128 may be identified by the worksite mappingcomponent 124 as points or locations from which personnel can perform avisual inspection of the worksite 128.

In this example, once the metes and bounds of the worksite 128 areestablished or mapped by the worksite mapping component 124, theworksite validation component 126 can receive information from one ormore sensors or sources to validate that the excavator 104 a can performthe tasks enumerated by the worksite plan 122. For example, the worksitevalidation component 126 can receive information from communicationscomponents 108, 112 and/or from sensing components 110, 114, 116 aboutconditions of the environment 100 at or proximate the worksite 128. Byway of non-limiting example, the personnel 106 a, as personnel closestto the worksite 128, may be tasked with performing a visual inspectionof the worksite 128, e.g., to ensure that conditions are as required forperformance of the task(s). In this example, the personnel 106 a mayhave a portable device that includes one or both of the communicationcomponent 112 and/or the sensing component 114. For instance, thesensing component 114 can include a GPS or other position sensor thatsends position information, e.g., via the communication component 112,to the computing system(s) 120. Upon receiving the position information,for example, the worksite validation component 126 can determine thatthe personnel has traversed the worksite 128 e.g., by comparing theposition information to one or more locations designated by the worksitemapping component 124. For example, such one or more locations mayinclude positions along the perimeter of the worksite 128 and/orposition(s) within the worksite 128.

In this example, the position information generated by the sensingcomponent 114 associated with the personnel 106 a can be used todetermine that the physical location(s) of the personnel 106 a are suchthat the personnel 106 a has been in a position to perform a visualinspection of the worksite 128. The worksite validation component 126can also include additional functionality to further confirm validationof the worksite 128. For example, the worksite validation component 126may cause a user interface to be presented to the personnel 106 a, e.g.,via a display of a device including the communications component 112and/or the sensing component 114. For instance, the user interface maybe configured to receive an input from the personnel 106 a confirmingvalidation of the worksite 128. For example, the personnel 106 a may beprovided with a checklist or similar list of necessary conditions, e.g.,the conditions (i)-(iv) described above, and the personnel 106 a mayconfirm such conditions as present/absent.

Accordingly, the computing system(s) 120 may facilitate validation of aworksite prior to performing a task or job at the worksite. In someexamples, the computing system(s) 120 can provide improved and/or saferoutcomes by ensuring that the worksite 128 is suitable for performingthe new excavation task before authorizing commencement of the task. Ofcourse, the foregoing example is for illustration only. Additionalexamples, details, and modifications are provided further herein.

FIG. 2 is a schematic representation of an example graphical userinterface 200. More specifically, FIG. 2 illustrates a user device 202having a display 204. The user device 202 is illustrated as a handhelddevice, such as a tablet device, although in other implementations, theuser device may be any number of electronic devices, e.g., a desktopcomputer, a laptop computer, a smart phone, or the like, including adisplay and facilitating user interaction with the display 204. Thedisplay 204 is configured to display or otherwise render the graphicaluser interface 200. In the example illustrated, the graphical userinterface 200 includes a map 206 generally including features of theenvironment 100. For example, the map 206 may illustrate topographicalfeatures such as of the open pit mine 102. The map 206 may also includegraphical representations including but not limited to machinerepresentations 208 (e.g., of the machines 104) and/or buildingrepresentations 210 (e.g., of the work station 118). Although not shownin FIG. 2, the map 206 may graphically depict any additional or otherfeatures of the worksite 102. For example, the map 206 may includegraphical depictions of personnel at the worksite (e.g., the personnel106), of sensing devices located at the worksite (e.g., representationsof the sensing device(s) 116), other topographical features, such asroads, elevation changes, bodies of water, or the like, and any otherstructures or features in or near the environment 100.

As also illustrated in FIG. 2, the graphical user interface 200 caninclude a graphical worksite depiction 212. The graphical worksitedepiction 212 can be a depiction of a worksite 214 to be validated. Forexample, the worksite 214 may be the worksite 128 depicted in FIG. 1,and discussed further above. In the example graphical user interface200, the graphical worksite depiction 212 is a dashed-linerepresentation of a perimeter of the worksite 214, although inalternative implementations other representations may be used for thegraphical worksite depiction 212. As detailed further herein, thegraphical worksite depiction 212 provides a visual indication topersonnel associated with the user device 202 of a worksite to bevalidated. The extents of the graphical worksite depiction 212 can bedefined by the worksite plan 120 or determined, e.g., by the worksitemapping component 122, based at least in part on the worksite plan 120.Moreover, although the graphical worksite depiction 212 is illustratedas a quadrilateral, other shapes may be used, including but not limitedto the elliptical shape used to demonstrate the worksite 128 in FIG. 1.Also in examples, instead of a representation of a continuous perimeter,the graphical worksite depiction 212 may be visualized as a number ofpoints, landmarks, or locations. In some examples, the point locationsmay be generally aligned along the perimeter of the worksite 214,although other examples may include points other than along a perimeter.By way of nonlimiting example, one or more points inside the perimeterof the worksite 214 may be presented, in addition to or as analternative to the perimeter. For instance, larger worksites may requiremore than a traversal of the perimeter to complete a visual inspection.In the example used in FIG. 1, a point may be provided at a base of thewall of the open pit mine 102, or other locations within the mine 102.Other example implementations will be appreciated by those havingordinary skill in the art with the benefit of this disclosure.

As also illustrated, the graphical user interface 200 can include agraphical current location depiction 216. In the illustrated example,the graphical current location depiction 216 is illustrated by twoconcentric circles and the text “you are here.” In otherimplementations, the graphical current location depiction 216 can beotherwise presented on the graphical user interface 200, including withthe use of one or more of graphics, text, animations, or the like. Aswill be appreciated, the graphical current location depiction 216 canillustrate a position of the device 202 on the map 206. The map 206 maybe a representation of the environment 100 shown in FIG. 1, and in thisexample, the user device 202 may be associated with the personnel 106 a,for example. In other examples, the graphical current location depiction216 can illustrated a position of a person, e.g., the personnel 106 a,for instance, based on position data obtained from a sensor worn by,carried by, or otherwise associated with the personnel 106 a.

The graphical user interface 200 can also provide a user withinstructions and context for validating the worksite 214. In thisexample, the graphical user interface 200 can include an indication ofan overall task to be performed, e.g., the text “validate worksite #1,”the map 206 of the environment 100 with the graphical worksite depiction212 specifically identifying the worksite 214, and the graphical currentlocation depiction 216 to orient the user relative to the worksite 214.The graphical user interface 200 may also include features that allow auser to interact with the graphical user interface 200. For example, andas illustrated in FIG. 2, the graphical user interface 200 may includeuser interface controls 218, 220, 222. In examples of this disclosure,the user interface controls 218, 220, 222 may be buttons or otherdesignations on the display 204 of the device 202 with which a user mayinteract. For example, a user may interact with the user interfacecontrols 218, 220, 222 by touching the display 204 at a positionproximate a to-be-selected user interface control, by selecting one ofthe user interface controls 218, 220, 222 with a stylus or otherselecting device associated with the user device 202, or otherwise. Inthe example of FIG. 2, a user may select the user interface control 218to obtain additional information about requirements for validating theworksite. For example, selection of the user interface control 218 maycause the user device 202 to render an updated graphical user interfacewith additional information and enabling additional functionalitypertaining to worksite validation. An example of an updated graphicaluser interface that may be presented in response to selection of theuser interface control 218 is illustrated in FIG. 3, which will bedescribed in more detail below.

The user may select or otherwise interact with the second user interfacecontrol 220 to enter comments. For example, selection of the second userinterface control 220 may cause display of a dialog box or updatedgraphical user interface for a user to enter comments about the worksite214. For example, selection of the user interface control 220 canpresent the user with an interface such as a keyboard or other similarinput mechanism that allows for input of textual comments. In otherexamples, comments may be provided via an audio input, via speech totext technology, or other methods. In these examples, comments enteredby the user may be transmitted to a remote computing system, such as thecomputing system(s) 120 described above in connection with FIG. 1. Byway of nonlimiting example, comments can include records of attributesor conditions observed at or relating to the worksite 214.

The user may interact with the third user interface control 222 toindicate that the worksite 214 is not suitable for performing one ormore tasks dictated by the worksite plan. As described herein,techniques may be used to determine whether a worksite, such as theworksite 214 is appropriate for performing one or more via autonomous,semi-autonomous, or remotely controlled machine-based tasks. The thirduser interface control 222 may allow a user to readily indicate that theworksite 214 is not suitable for the desired task. Although notillustrated, upon selecting the third user interface control 222, thegraphical user interface 200 may be updated with a dialog box or thelike requiring the user to confirm the “invalid” selection.Additionally, or alternatively, selection of the third user interfacecontrol 222 may prompt the user to enter comments including anindication of why the worksite 214 is not valid and/or cannot bevalidated.

As also illustrated in FIG. 2, the graphical user interface 200 mayinclude one or more status indications associated with the validation ofthe worksite 214. One such option illustrated in FIG. 2 is an inspectionstatus indicator option 224 when selected, causes display of a numericalrepresentation of a percentage completion of the worksite inspection aswell as a pictorial graphic of the same. The inspection status graphic224 is for example only, and additional or different graphics may beused to indicate factors associated with the inspection status. Inexamples, validation of the worksite 214 may require that personneltraverse the perimeter of the worksite or otherwise travel to certainpreviously defined coordinates of the worksite 128 to facilitate acomplete visual inspection of the worksite 128. The inspection statusgraphic 224 may indicate a progress associated with such travelsrelative to the worksite 214, as detailed further herein. With specificreference to FIG. 2, the user (or user device 202 is indicated as beingaway from the worksite 214 and, as such, the inspection status graphic224 indicates that none of the worksite has been inspected, e.g.,because the user (or user device) has not traveled to a position orpositions at which a visual inspection can be carried out.

As noted above, the user may be able to access additional informationabout the worksite 214 and/or about requirements for validating theworksite 214, e.g., by selecting the user interface elements 218, 220,222. For example, FIG. 3 illustrates an updated graphical user interface300 that may be presented on the display 204 in response to a userselecting the first user interface element 218. In other examples, thegraphical user interface 300 may be otherwise accessed, for example, byselecting one of the text “Validate Worksite #1,” the representation ofthe worksite 214, the graphical worksite depiction 212, and/or someother or additional user interface element. In the illustrated example,and as noted above, the worksite 214 may correspond to the worksite 128introduced above in connection with FIG. 1, and the purpose of thevalidation may be such that the excavator 104 a can perform one or moretasks in the open pit mine 102 without an on-site or on-machineoperator.

As illustrated in FIG. 3, the graphical user interface 300 accommodatesan expanded instructions section 302. The instructions section 302provides additional information about validation. For example, theinstructions section 302 can provide the user with a list of conditions,objectives, or tasks that must be checked, accomplished, or otherwiseperformed to validate the worksite for the proposed task(s). In theillustrated example, the instructions require that the perimeter beinspected, the ground composition be inspected, that workers at the sitebe identified, and that objects at the worksite be identified. Theseenumerated tasks may generally correspond to, or be based at least inpart on, the conditions (i)-(iv) from the example discussed above,although the tasks set forth in the instructions section 302 are forexample only. More, fewer, and/or different tasks or instructions may beprovided, and may be dictated at least in part by the worksite plan 122.In FIG. 3, the instructions section 320 is an expansion of the firstuser interface control 218 and the second user interface control 220 andthe inspection status graphic 224 may be removed to accommodate theexpansion. In other examples, additional, fewer, or different graphicsmay be removed from the graphical user interface 200 to accommodatepresentation of the instructions section 302.

The instructions provided in the expanded instructions section 302 canprovide a user, such as the personnel 106 a, with a visual indication ofeach of the conditions required for the task identified by the worksiteplan 122 to be executed. In some implementations, the instructions mayinclude tasks to be performed by the personnel 106 a, e.g., manually,and/or tasks to be automatically performed via sensors usingcomputer-based automation techniques. For instance, the last entry inthe expanded instructions section 302 is “identify objects.” To completethis task, the personnel 106 a may be tasked with determining whetherthere are objects within the worksite 214 that would prevent theexcavator from performing the required tasks. If such objects arepresent, e.g., are visually identified by the personnel 106 a as s/hevisually inspects the site, the personnel 106 a may interact with thethird user interface control 222, e.g., to invalidate the worksite. Inother implementations, the personnel 106 a may be required to captureimages of the worksite, and such images may be processed, e.g., usingfeature recognition techniques, to determine and identify objects andpeople present at the worksite. In this implementation, the user may benotified of the cancellation of the desired tasks on account of thepresence of objects and people on the worksite

According to techniques of this disclosure, computer-implementedtechniques may be used to confirm that personnel has, in fact, inspectedthe worksite 214. For example, the first item listed in the expandedinstructions section 302 is “inspect perimeter.” Such instruction mayindicate to the personnel 106 a, or other user associated with thedevice 202, that s/he must traverse the perimeter of the worksite, withthe perimeter indicated by the worksite representation 212. Because thegraphical user interfaces 200, 300 illustrate the current location ofthe personnel, via the current location indicator 216, and the perimeterof the worksite 214, via the worksite depiction 212, the graphical userinterfaces 200, 300 provide the user with a context of the currentlocation, a destination location and directions for navigating from thesource location to the destination location. Similarly, theimplementation may present a map of worksite 214, not shown in FIG. 3,that can help inspection personnel to navigate within the worksite 214.FIG. 4 shows an updated example graphical user interface 400 in whichthe personnel has moved, e.g., to undertake a visual inspection of theworksite 214. In this example, the present location indication 216 hasbeen updated to show that the device 202 is now located proximate thebottom left corner of the quadrilateral defining the worksite 214. Asalso illustrated, a portion of the perimeter of the worksite 214 is nowshown in solid line. In this example, the personnel 106 a, with thedevice 202, may have traveled from the location indicated in FIGS. 2 and3 by the current location indicator 216, to a first position 402proximate the top left corner of the worksite 214. From the firstposition 402, the user may have traversed along the line 404 to a secondposition 406 proximate the top right portion of the worksite 214. Fromthe second position 406, the personnel may have traversed along the line408 to a third position 410, and from the third position 410, thepersonnel may have travelled to the current position indicated by thecurrent location indicator 216′ along the line 412.

In addition to including the lines 404, 408, 412, e.g., as indicationsof positions at which the personnel has traveled to inspect the worksite214, the graphical user interface 400 may also include updates to theinspection status graphic 224. For instance, and as illustrated, theinspection status graphic 224 may be updated to include numerically,visually, or otherwise on amount of the worksite 214 that has beentraversed by the personnel. In this example, the numerical depiction, aswell as the graphical representation below the numerical depiction,demonstrate that approximately two thirds, or 66% of the worksite 214has been inspected. For instance, the percentage of validation maydirectly correspond to on amount of the perimeter that has beentraversed by the personnel. In examples, the path taken by the personnelcan be determined using sensors on the electronic device 202. By way ofnonlimiting example, the electronic device 202 may include one or moreposition sensors, e.g., a GPS sensor, or the like, and positioninformation may be used to track movement of the device 202, andtherefore of the personnel. In the illustrated example, the path of thepersonnel is limited to illustrating the positions along the perimeterof the worksite 214. In examples, the device 202 may not exactly trackthe worksite perimeter indication 212. Stated differently, the personnelmay not travel with the device 202 exactly along the outline depicted bythe perimeter indication 212, but the location information generated bythe location sensor(s) on the electronic device 202 may indicate thatthe device 202 is within some threshold distance to the perimeter, andthus confirm personnel was in at or in the vicinity of the perimeter. Insome examples, the location data generated by the electric device 202may be generated at some fixed interval, and an inference may be made asto a route taken between locations generated in successive readouts. Inother examples, the worksite mapping component 124 may determine anumber of discrete points along the perimeter of the worksite 214, andthe location data may be compared to those positions. For instance,points may be associated with each of the positions 402, 406, and 410,and additional points may be determined between those positions. By wayof nonlimiting example, the line 404 may be generated in response toconfirming that the user device has been at three predetermined pointsbetween the position 402 in the position 406. When discrete points areused, as just described, the inspection status graphic 224 may be basedon a number of points at which the user device 202 has been. In someexamples, a position of the user device 202 within some radius of thepoint(s) may be sufficient to confirm that the device 202 has beenlocated at the respective point.

FIG. 5 illustrates yet another graphical user interface 500. Compared tothe graphical user interface 400, the graphical user interface 500indicates, as represented by the current location indicator 216″, thatthe personnel, e.g., associated with the device 202, has now traveled toa location proximate the first position 402. For example, the electronicdevice 202 may have been moved generally along the line 502 from aposition 504 to the first position 402. In this example, because theelectronic device 202 has now traversed around the entirety of theperimeter of the worksite 214, the inspection status graphic 224 hasbeen updated to show that 100-percent of the worksite has beeninspected. In addition, the graphical user interface 500 may be updatedto include a shaded region 506 showing that the entirety of the worksite214 has been traversed. In some implementations, confirming that thepersonnel has been in a series of positions associated with the worksite214, e.g., around the perimeter of the worksite 214, may be sufficientto confirm that the worksite 214 is validated for performing the task(s)associated with the worksite plan 122. However, as described furtherherein, additional steps may be taken, e.g., to confirm one or moreconditions associated with the worksite 214, to complete validation.

Also in the example graphical user interface 500 illustrated in FIG. 5,a user interface control 508 may be presented. In the illustratedexample, the user interface control 508 when selected may start thevalidation process for the worksite 114. In this example, the user mayinteract with, e.g., select, the user control 508 to perform additionaltasks associated with validating the worksite. In at least someexamples, selection of the validate user control 508 may cause the userdevice 202 to display an example graphical user interface 600illustrated in FIG. 6.

As illustrated in FIG. 6, the graphical user interface 600 includesseveral of the features of the graphical user interface 500, but alsoincludes a confirm parameters user interface 602. Specifically, in thisexample, the confirm parameters user interface 602 includes a list 604of parameters, conditions, or tasks required to validate the worksite214. Moreover, individual conditions or tasks in the list 604 may havean associated selectable user control 606. In the example, theselectable user control 606 may toggle between a first state indicatingthat the condition is met or task is completed and a second stateindicating that the condition is not met or the task is not yetcompleted. In the example, items in the list 604 generally correspond tothe instructions presented in the graphical user interface 300.Specifically, and as detailed above, it may be necessary that a numberof conditions be present (or absent) in order to validate a worksite forperforming a task, e.g., from a worksite plan 122. Those conditions maybe presented to a user via the graphical user interface 300, and thegraphical user interface 600 may be configured to receive confirmation,e.g., via the selectable user controls 606, that such conditions havebeen met. In the illustrated example, the selectable user control 606associated with the “perimeter traversed” entry in the list 604 may beautomatically “checked” (or otherwise indicated as completed) upon theuser completing navigation around the worksite 214, e.g. when theinspection is completed as described above. Also in this example, thesite is confirmed to be clear of workers and clear of obstacles. Forexample, the “site clear of workers” and “site clear of objects” mayhave been manually confirmed by the user, e.g., while traversing theperimeter of the worksite 214. In examples, the user associated with theuser device 202 may have visually confirmed that no workers and noobjects are present at the site. The list 604 may also indicate to theuser that s/he must still confirm that the ground composition issufficient to execute the task.

The graphical user interface 600 also includes a “confirm validation”user control 608, which is grayed out in the illustrated example. Forinstance, the confirm validation user control 608 may be selectable bythe user to complete the validation process only upon each of the itemsin the list 604 being indicated as completed, e.g., via the selectableuser controls 606. Visually, the confirm validation user control 608 maybe grayed out only until all tasks in the list 604 are indicated ascomplete. In some instances, selection of the confirm validation usercontrol 608 can cause the user device 202 to generate and transmit avalidation signal, e.g., to the computing system(s) 120, to confirmvalidation of the worksite. Such a signal may indicate to the computingsystem(s) 120 that the worksite 214 is ready for performance of thetask(s) indicated by the worksite plan 122.

According to examples described in connection with the graphical userinterfaces 200, 300, 400, 500, 600, the present disclosure describes asystem by which a worksite 214 can be validated prior to executing oneor more tasks at the worksite 214, e.g., in accordance with a worksiteplan 122. Validation of the site can include generating a map 206 of theworksite 214 in a larger environment 100, e.g., using the worksitemapping component 124, and causing the map 206 to be presented on theuser device 202. Sensor data, e.g., position data, can then be used todetermine that the user device 202 has been transported around theworksite 214, indicating that the personnel has visually inspected theworksite 214. In addition to inferring that the personnel has inspectedthe worksite 214, other sensor data can also be used to confirm theinspection. By way of non-limiting example, the data generated by one ormore of the sensors 110, 114, 118 may be received by the computingsystem(s) 120, such that the worksite validation component 126 candetermine aspects of the validation. In some instances, the personnel106 a may use a camera associated with the user device 202 to captureimage data, e.g., images and/or video, of the worksite 214. The worksitevalidation component 126 may include functionality to determine whetherconditions are met at the site based on this image data. For instance,the worksite validation component 126 may include image processingfunctionality, e.g., feature recognition, capable of identifying peopleor objects at the worksite. Similarly, sensors proximate the worksite,such as the additional sensor 116 b, can be used to provide image data,environmental data, or other data about conditions at or proximate theworksite 214.

FIG. 7 is a block diagram illustrating an example system 700 forworksite validation according to examples described herein. In at leastone example, the system 700 can include one or more computing device(s)702, which may be, or include, the computing system(s) 120 in someimplementations. The computing device(s) 702 can include one or moreprocessors 704 and memory 706 communicatively coupled with theprocessor(s) 704. In the illustrated example, the memory 706 of thecomputing device(s) 702 stores one or more maps 708, one or moreworksite plans 710 (which may be or include the worksite plans 122), aworksite mapping system 712 (which may be or include the worksitemapping component 124), a worksite validation system 714 (which may beor include the worksite validation component 126), and a graphical userinterface (GUI) generation system 716. Although these systems andcomponents are illustrated, and will be described below, as separatecomponents, functionality of the various systems may be attributeddifferently than discussed. Moreover, fewer or more systems andcomponents may be utilized to perform the various functionalitiesdescribed herein. Furthermore, though depicted in FIG. 7 as residing inmemory 706 for illustrative purposes, it is contemplated that the map(s)708, the worksite plan(s) 710, the worksite mapping system 712, theworksite validation system 714, and/or the GUI generation system 716 mayadditionally, or alternatively, be accessible to the computing device(s)702 (e.g., stored on, or otherwise accessible by, memory remote from thecomputing device(s) 702).

In some examples, the maps 708 may include maps of environments at whichjobs are to be performed, such as the environment 100. A map can be anynumber of data structures modeled in two dimensions or three dimensionsthat are capable of providing information about an environment, such as,but not limited to, topologies (such as intersections), streets,mountain ranges, roads, terrain, and the environment in general. Themap(s) 708 may also include data structures capable of providinginformation about buildings, including but not limited to floorplans,blueprints, layouts, equipment models and locations of equipment, and/orother building-centric information. As noted above, while the map(s) 708may be stored in the memory 706 of the computing device(s) 702, in otherimplementations, the map(s) 708 may be accessed by the computingdevice(s) 702, e.g., via a network 722.

In at least one example, the worksite plan(s) 710 (which may be the sameas or similar to the worksite plans 122) can include information abouttasks, jobs, or function to be carried out. For instance, the worksiteplan(s) 710 can include information about a type of job or task to becarried out, a location for the job or task to be carried out, and,optionally, one or more conditions for performing the job or task. In atleast some examples, the worksite plan(s) 710 can include jobs or tasksto be performed by a machine that is remotely-operated or that is semi-or fully-autonomous. In examples, the information about the one or moreconditions for performing the job or task may be based on requirementsfor performing the remote, semi-autonomous, or fully-autonomous task.Additional examples of the worksite plan(s) 710 are provided herein.

In some instances, the worksite mapping system 712 (which may be orinclude functionality associated with the worksite mapping component124) can include functionality to determine coordinates of a worksite tobe validated. In examples, the worksite mapping system 712 can receiveinformation about the extents of a worksite, such as the worksite 214,at which a job specified by the worksite plan 710 is to be performed.For example, the worksite plan 710 can include the coordinates of theworksite 214, and the worksite mapping system 712 can identify thecoordinates relative to information from the map(s) 708. In otherexamples, the worksite mapping system 712 can determine extents orcoordinates of the worksite 214 using other methods. For instance, theworksite mapping system 712 can include functionality to determine aperimeter or area within which a task is to be performed, for instance,based on the type of job or task, the extents of the environment 100, atype of machine available to perform the task, or other information. Byway of non-limiting example, the worksite mapping system 712 can map thearea based on amount of earth to moved, material to be extracted, or thelike. As described further herein, the worksite mapping system 712 cangenerate the map 206 provide on the display 204 of the user device 202.

In some examples, the worksite validation system 714 (which may be orinclude functionality associated with the worksite validation component126) can include functionality to determine that a worksite isappropriate for performing a task. In examples described above, theworksite validation system 714 may receive sensor data from one or moresources and determine, based on the sensor data, validate the worksite.As detailed above in connection with FIGS. 3-5, the worksite validationsystem 714 can receive location information associated with personneltasked with performing a visual inspection of the worksite. Using thislocation information, the worksite validation system 714 can determinethat the worksite has been visually inspected. For instance, theworksite validation system 714 can determine that the personnel hascompletely traversed an area associated with the worksite, e.g., aperimeter of the worksite, one or more locations at the worksite, or thelike.

In addition to using position data to determine that the worksite hasbeen visually inspected, the worksite validation system 714 candetermine that additional conditions also are met. For example, theworksite validation system 714 can include functionality to performimage analysis on images of the worksite, e.g., to determine whetherobjects, personnel, or other conditions are present at the worksite.Also in examples, the worksite validation system can receiveweather-related information, e.g., from sensors proximate the worksite,to determine weather-related conditions. Also in examples, the worksitevalidation system 714 can receive information associated with userinputs at a device associated with worksite.

In some examples, the graphical user interface generation system 716 caninclude functionality to generate one or more interactive interfaces,such as the graphical user interfaces 200, 300, 400, 500, 600 forpresentation on a display. In some examples, the GUI generation systemmay receive information from the map(s) 708, the worksite plan(s) 710,the worksite mapping system 712, the worksite validation system 714,and/or additional data 718 to generate the GUIs. By way of nonlimitingexample, the GUI generation system 716 may use the map(s) 708 and datagenerated by the worksite mapping system 712 to generate the map 206showing the worksite 214 in the environment 100 and relative to acurrent position of the user device displaying the map 206. Moreover,the GUI generation system 716 may receive information about worksiteconditions that must be met to perform certain tasks. For instance, suchinformation may be displayed as instructions, as in the graphical userinterface 300 and/or as a checklist or similar list as in the graphicaluser interface 600. Also in examples, the graphical user interfacegeneration system can receive information about locations of objects inan environment, e.g., to configure the GUIs to include graphicalrepresentations of such objects. As also described above, GUIs generatedthe GUI generation system 716 may provide interactive elements, such asuser interface elements that allow for interaction by a user with theGUIs. In the example GUI 600 of FIG. 6, the list 604 may be determinedbased on the worksite plan(s) 710 and the user interface controls 606may be generated to allow a user to confirm that items on the list 604are completed. The GUI generation system 716 may also access templates,logic, APIs, plug-ins, and/or other software, firmware, or datanecessary to render the GUIs.

The computing device(s) 702 may also include communication connection(s)720 that enable communication between the computing device(s) 702 andother local or remote device(s). For instance, the communicationconnection(s) 720 can facilitate communication with other computingdevices such as the computing device(s) 724, the machines 104, thecommunication devices 108, 112, the sensing devices 110, 114, 116,and/or one or more networks, such as the network(s) 722. For example,the communications connection(s) 720 can enable Wi-Fi-basedcommunication such as via frequencies defined by the IEEE 802.11standards, short range wireless frequencies such as BLUETOOTH®, otherradio transmission, or any suitable wired or wireless communicationsprotocol that enables the respective computing device to interface withthe other computing device(s).

In some implementations, the computing device(s) 702 can sendinformation, such as sensor data, to the computing device(s) 724, viathe network(s) 722. The computing device(s) 724 can receive the sensordata from the computing device(s) 702 and/or from the sensing devices110, 114, 116 directly, and can perform some of the functions attributedto the computing device(s) 702. In at least one example, the computingdevice(s) 724 can include processor(s) 726 and memory 728communicatively coupled with the processor(s) 726. In the illustratedexample, the memory 728 of the computing device(s) 724 can store aworksite validation component 714. The worksite validation component 714may correspond to the worksite validation system 712 described above.

The processor(s) 704 of the computing device(s) 702 and the processor(s)726 of the computing device(s) 724 can be any suitable processor capableof executing instructions to process data and perform operations asdescribed herein. By way of example and not limitation, the processor(s)704 and 726 can comprise one or more Central Processing Units (CPUs),Graphics Processing Units (GPUs), or any other device or portion of adevice that processes electronic data to transform that electronic datainto other electronic data that can be stored in registers and/ormemory. In some examples, integrated circuits (e.g., ASICs, etc.), gatearrays (e.g., FPGAs, etc.), and other hardware devices can also beconsidered processors in so far as they are configured to implementencoded instructions.

The memory 706 and the memory 728 are examples of non-transitorycomputer-readable media. The memory 706, 728 can store an operatingsystem and one or more software applications, instructions, programs,and/or data to implement the methods described herein and the functionsattributed to the various systems. In various implementations, thememory can be implemented using any suitable memory technology, such asstatic random-access memory (SRAM), synchronous dynamic RAM (SDRAM),nonvolatile/Flash-type memory, or any other type of memory capable ofstoring information. The architectures, systems, and individual elementsdescribed herein can include many other logical, programmatic, andphysical components, of which those shown in the accompanying figuresare merely examples that are related to the discussion herein.

As also illustrated in FIG. 7, the computing device(s) 702 may alsocommunicate with the machines 104, the communication devices 108, 112,the sensing components 110, 114, and/or the sensors 116. Although thecomputing device(s) 702 are illustrated as communicating with suchmachines and devices via the network(s) 722, in other implementations,the computing devices 702 may be in direct communication with themachines and/or devices. By way of non-limiting example, in someimplementations some aspects and/or functionality ascribed to thecomputing device(s) 702 may be performed on a communication device 108,such as on the user device 202. Similarly, the machines 104, thecommunication devices 108, 112, the sensing components 110, 114, and/orthe sensors 116 may be in direct communication with the computingdevices 724. As further illustrated in FIG. 7, the sensing devices(e.g., the sensing components 110, 114 and/or the sensors 116) mayinclude one or more sensor system(s) 732. In at least one example, thesensor system(s) 732 can include location sensors (e.g., GPS, compass,etc.), inertial sensors (e.g., inertial measurement units,accelerometers, magnetometers, gyroscopes, etc.), cameras (e.g., RGB,UV, IR, intensity, depth, etc.), microphones, wheel encoders,environment sensors (e.g., temperature sensors, humidity sensors, lightsensors, pressure sensors, etc.), LIDAR sensors, RADAR sensors,ultrasonic transducers, SONAR sensors, etc. The sensor system(s) 732 caninclude multiple instances of each of these or other types of sensors.For instance, each of the machines 104 may have multiple camerasdisposed at various locations about the exterior and/or interior of themachine. The sensor system(s) 732 can provide input to the computingdevice(s) 702 and/or the computing device(s) 724, e.g. via acommunications system 734. Additionally, and/or alternatively, thesensor system(s) 732 can send sensor data, via the communications system734 and/or the network(s) 722, to the computing device(s) 702 and/or tothe computing device(s) 724 at a particular frequency, after a lapse ofa predetermined period of time, in near real-time, etc.

It should be noted that while FIG. 7 is illustrated as a distributedsystem, in alternative examples, components of the computing device(s)702 can be associated with the computing device(s) 724 and/or componentsof the computing device(s) 724 can be associated with the computingdevice(s) 702. Moreover, although various systems and components areillustrated as being discrete systems, the illustrations are examplesonly, and more or fewer discrete systems may perform the variousfunctions described herein.

FIGS. 8 and 9 illustrate flow charts depicting example processes 800,900 e of the present disclosure for validating worksites. The exampleprocesses 800, 900 are illustrated as a collection of steps in a logicalflow diagram, which steps represent operations that can be implementedin hardware, software, or a combination thereof. In the context ofsoftware, the steps represent computer-executable instructions stored inmemory. When such instructions are executed by, for example, theprocessor(s) 704, such instructions may cause the controllerprocessor(s) 704, various components of the computing device(s) 702, thecomputing device(s) 724, the machines 104 and/or the communicationdevice(s) 108, 112 to perform the recited operations. Suchcomputer-executable instructions may include routines, programs,objects, components, data structures, and the like that performparticular functions or implement particular abstract data types. Theorder in which the operations are described is not intended to beconstrued as a limitation, and any number of the described steps can becombined in any order and/or in parallel to implement the process. Fordiscussion purposes, and unless otherwise specified, the processes 800,900 are described with reference to the environment 100, the GUIs 200,300, 400, 500, 600, the computing system 700, and/or other items shownin FIGS. 1-7.

As noted, the process 800 is illustrated in FIG. 8 and generallydescribes a method of validating a worksite. The process 800 includes,at 802, receiving a worksite plan. For example, the computing device(s)702 may receive data, e.g. via one or more signals, indicative of a taskor job to be performed in the environment 100. For instance, theworksite plan may be the worksite plans 122, 710, and may includeboundary information about an area in which the task or job is to beperformed, e.g., the extents of a worksite, one or more conditionsrequired to validate the worksite for the job, and/or any otherinformation about the task or job.

The process 800 may also include, at 804, identifying a worksiteassociated with the worksite plan. For example, the computing device(s)702, e.g., using the worksite mapping system 712, may determine theextents of a worksite, such as the worksite 214, from the worksite planreceived at 802. In some examples, the extents, e.g., size, dimensions,locations, or the like, may be included in the worksite plan, and theworksite mapping system 712 may determine the location of the worksite214 on one or more of the map(s) 708. In other examples, the computingdevice(s) 702 may otherwise determine the worksite location based on theworksite plan. By way of non-limiting example, the additional data 718can include information about a correspondence between worksites, e.g.,sizes, shapes, required conditions, and tasks to be performed.Accordingly, the computing device(s) 702 may determine details about theworksite based on the worksite plan.

The process 800 may also include, at 806, generating a user interfacevisualizing the worksite and validation-related information. Forexample, the techniques described herein may generate the graphical userinterface 200 which includes the map 206 illustrating the worksite 214and the environment. The graphical user interface 200 also includes acurrent location of the device on which the GUI is displayed, e.g., toorient personnel associated with the device in the environment andrelative to the worksite 214. As detailed above, the graphical userinterface 200 may also include user interface elements 214, 216, 218,via which a user, such as a supervisor or the like, reviewing the map206 on the user device 200 may obtain additional information about avalidation task to be performed. Also in examples, the GUI can includean inspection status indicator, indicating a percentage, amount, orother metric associated with inspecting or validating the worksite.

The process 800 may also include, at 808, receiving location informationfrom a position sensor. For example, the techniques described herein caninclude receiving information about a location of the user device 202 onwhich the graphical user interface generated at 806 is displayed. Inother examples, the location information may be associated with adifferent sensing device associated with personnel tasked withinspecting and/or validating a worksite. By way of non-limiting example,the position sensor may be associated with a wearable device, e.g., awatch, armband, or the like, worn by the personnel, a vehicle in whichthe personnel may be riding, an electronic device associated with thepersonnel, e.g., a mobile phone, or some other sensing device.

The process 800 may also include, at 810, determining whether thelocation information confirms an inspection of the worksite. Forexample, the worksite validation component 714 may determine whether thepersonnel have been in position to visually inspect an entirety of theworksite. In at least some examples, the worksite validation component714 can compare the location information to one or more locationsassociated with the worksite. Such locations may include a perimeter ofthe worksite, one or more points on or near the perimeter, one or morepoints in the worksite, or other positions that may provide thepersonnel with an opportunity and/or vantage point to inspect theworksite.

If it is determined, at 810, that the location information does notconfirm inspection of the worksite, the process 800 reverts to 806. Forinstance, if the personnel has not yet traversed the perimeter of theworksite or has not been present at one or more predetermined locationsassociated with the worksite, an updated graphical user interface can begenerated illustrating an updated position of the personnel, e.g., basedon most-recently received location information, and/or updating a statusof the validation. An example of an updated GUI may be shown in FIG. 4.

Alternatively, if it is determined, at 810, that the locationinformation does confirm inspection of the worksite, the process 800 caninclude, at 812, updating the user interface to indicate the completedvisual inspection. In the example GUI 500 shown in FIG. 5, the worksite214 may be highlighted, shaded, or otherwise illustrated differentlyand/or the inspection status indicator may demonstrate that 100% of theworksite has been updated. In some examples, other indicators may bedisplayed on the graphical user interface illustrating that the worksitehas been inspected.

In some implementations, the process 800 can also include, at 814,receiving confirmation that condition parameters are satisfied. Forexample, and as detailed herein, conditions in addition to and/orascertained via a visual inspection may be necessary for certain tasksto be performed at a worksite. By way of non-limiting examples, sometasks may be performed only in certain weather conditions, in theabsence of people or objects in the work area, when the ground at theworksite meets certain parameters including grade, soil composition orthe like, and/or when certain other criteria are met. In the examplegraphical user interface 600, a user may confirm a number of parametersvia interaction with the elements 606 associated with the list 604. Inother examples, instead of or in addition to a user acknowledgment ofconditions or parameters, sensor data, such as from one of the sensingsystem(s) 732 associated with one or more of the sensing devices 110,114, 116 may generate data about the worksite, and such data may be usedto confirm additional parameters necessary for validating the worksite.In at least some examples, the additional information can be a userselection confirming validation, e.g., an affirmative action but theuser that each of the conditions required for validation is met.

The process 800 can also include, at 816, transmitting a worksitevalidation signal. For example, having confirmed that the worksite hasbeen inspected and all required conditions are met, the worksitevalidation system 714 can transmit the validation signal to thecomputing system(s) 120. The computing system(s) 120 may, in turn,commence the task at the worksite, e.g., by transmitting instructions toa remote user to commence a remotely-controlled machine-based taskand/or by authorizing an autonomous or semi-autonomous machine toperform the task.

The process 900 is illustrated in FIG. 9 and generally describes amethod of confirming that condition parameters are satisfied, e.g.,prior to validating a worksite. In some examples, the process 900 can beassociated with the operation 814 discussed above, although theoperation 814 may include additional, less, or different functionalitythan illustrated in the process 900 and the process 900 may be performedother than in association with the process 800.

The process 900 includes, at 902, receiving a worksite plan. Functioningassociated with 902 may be substantially the same as functioningassociated with 802, discussed above. In examples, the processes 800,900 may be performed in parallel and the operations 802 and 902 may bethe same operation. For example, the computing device(s) 702 may receivedata, e.g. via one or more signals, indicative of a task or job to beperformed in the environment 100. For instance, the worksite plan may bethe worksite plans 122, 710, and may include boundary information aboutan area in which the task or job is to be performed, e.g., the extentsof a worksite, one or more conditions required to validate the worksitefor the job, and/or any other information about the task or job. Theprocess 900 may also include, at 904, identifying one or more conditionparameters in the worksite plan. As detailed herein, a worksite plan mayenumerate a number of condition parameters that must be satisfied at aworksite prior to commencement of a job or task, e.g., a job or task tobe performed autonomously, semi-autonomously, or via remote control.Examples of condition parameters are detailed further herein and caninclude, without limitation, physical conditions, environmentalconditions, equipment information, equipment conditions, or the like.

The process 900 may also include, at 906, receiving informationassociated with an individual condition parameter of the conditionparameter(s). For example, the worksite validation component 714 canreceive sensor data from one or more of the sensing system(s) 732 todetermine information pertinent to the condition parameters. By way ofnon-limiting example, the worksite validation component 714 can receiveenvironmental data, e.g., weather data, from the additional sensor(s)116 proximate the worksite. In other examples, the worksite validationcomponent 714 can receive image data from one or more sensor modalities,including but not limited to, from the user device 202. In otherexamples, 906 can include receiving a signal associated with a userinteraction, e.g., with one of the GUIs 300, 400, 500, 600 indicatingthat she has confirmed, e.g., via a visual inspection, informationassociated with a visual inspection. By way of non-limiting example, theuser may confirm satisfaction of a condition using the elements 606.

The process 900 may also include, at 908, determining that the conditionparameter is satisfied. For example, based on the sensor data receivedat 906, the worksite validation component 714 can determine that thecondition parameter is satisfied. For instance, the worksite validationcomponent 714 may determine that the temperature and humidity at theworksite are within an acceptable range. In other examples, the worksitevalidation component 714 can confirm from sensor data received from oneof the machines 104 that the machine can perform the task. In someexamples, the operation 908 can confirm that the condition parameter issatisfied by receiving information from the user tasked with inspecting,e.g., by traversing, the worksite. As noted above, such a user mayinteract with a GUI, such as the GUI 500, to confirm that she hasdetermined, e.g., by a visual inspection, that the condition parameteris satisfied.

The process 900 can also include, at 910, determining whether allcondition parameter(s) are satisfied. If all condition parameters arenot satisfied, the process 900 can return to the operation 906. In someinstances, the process 900 can include highlighting or otherwisealerting to a user those parameters that are not yet satisfied. Also inexamples, the process 900 can include requesting additional information,e.g., specific to the parameter(s) not yet satisfied.

Alternatively, if at 910 it is determined that all conditionparameter(s) are satisfied, the process 900 can include, at 912,generating a condition parameter(s) satisfied signal and, at 914,transmitting the condition parameter(s) satisfied signal. In someexamples, the condition parameter(s) satisfied signal can be required togenerate and transmit a validation signal, as in the operation 816discussed above. Stated differently, the validation signal may requirethat all condition parameters are satisfied prior to being transmitted,and therefore authorizing performance of the task(s) or job(s)enumerated in the worksite plan received at 902.

INDUSTRIAL APPLICABILITY

The present disclosure provides systems and methods for validating aworksite 128, e.g., for execution of a job or task by one or moremachines 104 at the worksite 128. Such systems and methods may be usedto more efficiently and safely coordinate activities of the machines 104during operations at the worksite 128, for example to allow for non-lineof sight or remote control of the machines 104 and/or autonomous orsemi-autonomous machine control. For example, such systems and methodsmay enable a computing system(s) 120 to determine attributes of theworksite 128 correspond to prerequisites for performing desired tasksand maintain incident-free operation at the worksite. As a result, thecomputing system(s) 120 may confirm that desired operations can beperformed prior to performing such operations, and thus, may maximizeefficiency at the worksite 128. Additionally, such systems and methodsmay be used to more accurately manage the operation of the machines 104at the worksite 128, thereby reducing operating costs.

As noted above with respect to FIGS. 1-8, example processing ofvalidating a worksite may include receiving a worksite plan 122 anddetermining, based on the worksite plan 122, information about alocation and extents of a worksite 128. In some examples, the worksiteplan 122 can also include information about additional conditions thatmust be confirmed at the worksite 128. Based on the location and extentsof the worksite 128, the worksite mapping component 124 can identify theworksite 128 in map data. The map data can be displayed to a user, suchas via a graphical user interface on a portable electronic device 202.Moreover, location data associated with the user, e.g., from a locationsensor on the portable electronic device 202, can be used to display themap data, along with the current location of the user relative to arepresentation 214 of the worksite 128.

The process may also include receiving additional location data, e.g.,from the location sensor on the portable electronic device 202, todetermine whether the user associated with the device 202 has been inposition to visually inspect the worksite 128. For instance, theworksite validation component 126 can compare location data to one ormore positions associated with the worksite 128. In at least someexamples, the locations can be one or more locations along theperimeter, e.g., corners of the perimeter, one or more locations withinthe perimeter, e.g. a center of the worksite, and/or other positions. Byway of non-limiting example, techniques described herein may cause thecomputing system(s) 120 to control a one of the machines 104 to commenceperformance of a task when the worksite is validated and prevent amachine from operating in the absence of such validation. In otherimplementations, the computing system(s) 120 may transmit a message orthe like to a remote operator to commence the task or job at thenow-validated worksite 128.

While aspects of the present disclosure have been particularly shown anddescribed with reference to the embodiments above, it will be understoodby those skilled in the art that various additional embodiments may becontemplated by the modification of the disclosed machines, systems andmethods without departing from the spirit and scope of what isdisclosed. Such embodiments should be understood to fall within thescope of the present disclosure as determined based upon the claims andany equivalents thereof.

What is claimed is:
 1. A computer-implemented method comprising:receiving, at a computing device, a worksite plan including at least onetask to be executed by a machine at a worksite and a boundary of theworksite; receiving, from a second computing device disposed proximatethe worksite, sensor data generated by at least one sensor associatedwith the second computing device; displaying, on a display of thecomputing device, a user interface comprising a map including arepresentation of the boundary of the worksite and a representation of alocation of the computing device; receiving location informationincluding one or more updated locations of the computing device;generating, using the computing device, based on the locationinformation, a validation signal indicating that the worksite has beenvalidated; transmitting the validation signal from the computing device;and responsive to receipt of the validation signal, transmittinginstructions to commence the at least one task by the machine at theworksite, wherein said generating the validation signal is further basedon the sensor data, and wherein the machine is autonomous orsemi-autonomous, the at least one task being autonomously orsemi-autonomously performed by the machine.
 2. The computer-implementedmethod of claim 1, further comprising: determining that the worksite hasbeen validated based at least in part on the one or more updatedlocations corresponding to one or more predetermined locationsassociated with the worksite.
 3. The computer-implemented method ofclaim 2, wherein the one or more predetermined locations associated withthe worksite comprise at least one of locations proximate the boundaryof the worksite or locations within the boundary of the worksite.
 4. Thecomputer-implemented method of claim 2, further comprising: generating,based at least in part on the one or more updated locationscorresponding to the one or more predetermined locations associated withthe worksite, an updated user interface, the updated user interfaceincluding at least one user interface element; and receiving, at thecomputing device, a user input indicative of an interaction of the userwith the at least one user interface element, wherein the generating thevalidation signal is further based on the user input.
 5. Thecomputer-implemented method of claim 1, wherein the worksite planfurther includes a set of worksite condition parameters, thecomputer-implemented method further comprising: receiving, via a userinteraction with at least one of the user interface or the computingdevice, a validation of the at least one worksite condition parameter,wherein the generating the validation signal is further based on thevalidation of the at least one worksite condition parameter.
 6. Thecomputer-implemented method of claim 5, wherein the set of worksitecondition parameters comprises at least one of a ground composition, agrade associated with the worksite, a weather condition associated withthe worksite, an identification of one or more objects at the worksite,or an identification of one or more people at the worksite.
 7. Thecomputer-implemented method of claim 1, wherein the sensor datacomprises at least one of image data, position data, weather data, oraltitude data.
 8. The computer-implemented method of claim 7, whereinthe at least one sensor that generates the sensor data is associatedwith another machine located proximate the worksite.
 9. A systemcomprising: a computing device; one or more sensors; one or moreprocessors; and memory storing processor-executable instructions that,when executed by the one or more processors, configure the system toperform acts comprising: receiving a worksite plan, the worksite planincluding a boundary of a worksite at which a machine is to perform atask, at least one worksite condition parameter associated with theworksite, and information about the task to be performed by the at leastone machine at the worksite; receiving, from the one or more sensors,sensor data associated with the worksite, the sensor data comprising atleast one of location data or image data, based at least in part on thesensor data, generating a first signal indicating that the worksite hasbeen visually inspected; receiving condition parameter data indicatingthat the at least one worksite condition parameter is satisfied;generating, for display on the computing device, a graphical userinterface comprising a graphical representation of the worksite and auser interface element; based on the first signal, the conditionparameter data, and a user input indicative of a user interaction withthe user interface element, generating a validation signal indicatingthat the worksite has been validated; transmitting the validationsignal; and only when the validation signal has been generated andtransmitted, controlling the machine to perform the task at theworksite, wherein the machine is autonomous or semi-autonomous, the taskbeing autonomously or semi-autonomously performed by the machine inresponse to the transmitted instructions.
 10. The system of claim 9,wherein the user interaction with the user interface element correspondsto at least one of a user validation of the at least one worksitecondition parameter or a user validation of the visual inspection. 11.The system of claim 9, wherein the sensor data comprises the locationdata, the acts further comprising: determining that the location datacorresponds to a plurality of locations, the plurality of locationscomprising at least one of one or more first locations proximate theboundary or one or more second locations inside the boundary.
 12. Thesystem of claim 11, wherein the one or more sensors comprise a locationsensor associated with the computing device.
 13. The system of claim 9,wherein the one or more sensors comprise an image sensor configured togenerate the image data as one or more images of the worksite, the actsfurther comprising: analyzing the one or more images; and determiningthat the one or more images are indicative of a valid worksite.
 14. Thesystem of claim 13, wherein the image sensor is disposed on a machinelocated proximate the worksite or on the computing device.
 15. Thesystem of claim 13, the acts further comprising: receiving, via a userinteraction with at least one of the user interface or the computingdevice, a validation of the at least one worksite condition parameter,wherein the generating the validation signal is further based on thevalidation of the at least one worksite condition parameter. 16.Non-transitory computer-readable media storing instructions that, whenexecuted by one or more processors, perform actions comprising:receiving a worksite plan, the worksite plan including a boundary of aworksite at which a machine is to perform a task, at least one worksitecondition parameter associated with the worksite, and information aboutthe task to be performed by the at least one machine at the worksite;receiving, from one or more sensors, sensor data associated with theworksite, the sensor data comprising at least one of location data orimage data, based at least in part on the sensor data, generating afirst signal indicating that the worksite has been visually inspected;generating, for display on the computing device, a graphical userinterface comprising a graphical representation of the worksite and auser interface element; receiving condition parameter data indicatingthat the at least one worksite condition parameter is satisfied; basedon the first signal, the condition parameter data, and a user inputindicative of a user interaction with the user interface element,generating a validation signal indicating that the worksite has beenvalidated; and transmitting the validation signal; and transmittinginstructions for each said at least one machine to perform the task,wherein each said at least one machine is either autonomous orsemi-autonomous, the task being autonomously or semi-autonomouslyperformed by the machine in response to the transmitted instructions.17. The non-transitory computer-readable media of claim 16, wherein theuser interaction with the user interface element corresponds to at leastone of a user validation of the at least one worksite conditionparameter or a user validation of the visual inspection.
 18. Thenon-transitory computer-readable media of claim 16, wherein the sensordata comprises the location data, the acts further comprising:determining that the location data corresponds to a plurality oflocations, the plurality of locations comprising at least one of one ormore first locations proximate the boundary or one or more secondlocations inside the boundary.
 19. The non-transitory computer-readablemedia of claim 16, wherein the sensor data comprises the image data andthe image data comprises one or more images of the worksite, the actsfurther comprising: analyzing the one or more images; and determiningthat the one or more images are indicative of a valid worksite.